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<div class="title">MapPoint.h</div>  </div>
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<a href="_map_point_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#ifndef MAPPOINT_H</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#define MAPPOINT_H</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_key_frame_8h.html">KeyFrame.h</a>&quot;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_frame_8h.html">Frame.h</a>&quot;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_map_8h.html">Map.h</a>&quot;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_serializer_8h.html">Serializer.h</a>&quot;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &lt;opencv2/core/core.hpp&gt;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;boost/serialization/access.hpp&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;{</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">class </span>KeyFrame;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">class </span>Map;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">class </span>Frame;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_point.html">   58</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html">MapPoint</a></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;{</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a3d9788e9d5c47d86b0f614cde91e3a4f">MapPoint</a>(<span class="keyword">const</span> cv::Mat &amp;Pos, <span class="keywordtype">int</span> FirstKFid, <span class="keywordtype">int</span> FirstFrame, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html">Map</a>* pMap);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a3d9788e9d5c47d86b0f614cde91e3a4f">MapPoint</a>(<span class="keyword">const</span> cv::Mat &amp;Pos, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pRefKF, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html">Map</a>* pMap, cv::Vec3b <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a70f6cf86b42dfb6f4968839b977cd77f">rgb</a> = 0);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ad65e6322e9d06314db235ff4d072509f">SetWorldPos</a>(<span class="keyword">const</span> cv::Mat &amp;Pos);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a0e59b21447d5d889b39ad2fcc1b1db49">GetWorldPos</a>();</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#af0198d242a96476faa52da0ede3c8f10">GetNormal</a>();</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a98f595f0421fd95e406d1de6f48e05f3">GetReferenceKeyFrame</a>();</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a569e91b415067d4484fe7b71f33451cf">SetReferenceKeyFrame</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pRefKF);</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    std::map&lt;KeyFrame*,size_t&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ae91e056d3b79e08a3fadd976888f6b09">GetObservations</a>();</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a7fbc2a95f49eb6facdc5d5fa35de3287">Observations</a>();</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a37277ee3c7d8657976e749ab920bb13f">AddObservation</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF,<span class="keywordtype">size_t</span> idx);</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a79e6a93ea0c39329a082f4f69560f1be">EraseObservation</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF);</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#afbe3f2cf7f4d5e4596fa9f7ff0d44470">GetIndexInKeyFrame</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF);</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a7a8c48a885598ba4da3b188791dfd009">IsInKeyFrame</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF);</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a7ed2a66b528165d6c39cb6f84f684308">SetBadFlag</a>();</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a46bb6b57cd914c9ebad30007f3af469a">isBad</a>();</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a8f2e205afcfae3dc70196bcd29194440">Replace</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html">MapPoint</a>* pMP);    </div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html">MapPoint</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ad8814ed8121bd730c640c620ed623baf">GetReplaced</a>();</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a0a234f5bd6bc19a9ea55fad0c9e6db5f">IncreaseVisible</a>(<span class="keywordtype">int</span> n=1);</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aa097cd8cf993a54e999f297e05729392">IncreaseFound</a>(<span class="keywordtype">int</span> n=1);</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ac1b7c69a2d9f6bd785d465380844ce10">GetFoundRatio</a>();</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;</div><div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a0d081d56b0f398c52581b3e0eaa1cb15">  196</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a0d081d56b0f398c52581b3e0eaa1cb15">GetFound</a>(){</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a1defea85441b8063ef9ebb47c9959289">mnFound</a>;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    }</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ab4c3dfd8f5f05a4b1888021f1fac3d84">ComputeDistinctiveDescriptors</a>();</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a8f9faa5b4cc513795485dcfb460ea3d0">GetDescriptor</a>();</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ac5b8e4ec6a7737860af57058bdd16124">UpdateNormalAndDepth</a>();</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aac7224845c1d39016c50dcaacc0ebe40">GetMinDistanceInvariance</a>();</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#abf921da31ee4d522181bb6b8d9149fff">GetMaxDistanceInvariance</a>();</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aa1aa077560ef0cf2dee409f2a574370b">PredictScale</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> &amp;currentDist, <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;logScaleFactor);</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00254"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#afba2eb4d8400a0c822ee991ba445d9be">  254</a></span>&#160;    <span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#afba2eb4d8400a0c822ee991ba445d9be">mnId</a>;</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;</div><div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aa79702928d566db4fcd7716249bd96a2">  257</a></span>&#160; 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   <span class="comment">/* Rango de distancias (mínima y máxima) en la que puede ser observado y reconocido por su descriptor.*/</span></div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    <span class="comment">// Scale invariance distances</span></div><div class="line"><a name="l00399"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ac179383327d65067da6febe55cbfc32a">  399</a></span>&#160;<span class="comment"></span>    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ac179383327d65067da6febe55cbfc32a">mfMinDistance</a>;</div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;</div><div class="line"><a name="l00402"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#afc04bae1b7819dd158a572de56074f63">  402</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#afc04bae1b7819dd158a572de56074f63">mfMaxDistance</a>;</div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;</div><div class="line"><a name="l00407"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aad9ad02a540966d12b75460238290d90">  407</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html">Map</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aad9ad02a540966d12b75460238290d90">mpMap</a>;</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;</div><div class="line"><a name="l00409"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a592b97bed3453c0a599336fa848a8cef">  409</a></span>&#160;    std::mutex <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a592b97bed3453c0a599336fa848a8cef">mMutexPos</a>;</div><div class="line"><a name="l00410"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a3ab20d400977581ac45a109f5544ffda">  410</a></span>&#160;    std::mutex <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a3ab20d400977581ac45a109f5544ffda">mMutexFeatures</a>;</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;</div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a3d9788e9d5c47d86b0f614cde91e3a4f">MapPoint</a>();</div><div class="line"><a name="l00414"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">  414</a></span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a>;</div><div class="line"><a name="l00415"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ad3f5346f31d572dd2ab4fcd658de5bc4">  415</a></span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_serializer.html">Serializer</a>;</div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> Archivo&gt; <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aef6f5c53ed3c845276473bda2437ad03">serialize</a>(Archivo&amp;, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>);</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;};</div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;</div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;} <span class="comment">//namespace ORB_SLAM</span></div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;</div><div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;<span class="preprocessor">#endif // MAPPOINT_H</span></div><div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a3ab20d400977581ac45a109f5544ffda"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a3ab20d400977581ac45a109f5544ffda">ORB_SLAM2::MapPoint::mMutexFeatures</a></div><div class="ttdeci">std::mutex mMutexFeatures</div><div class="ttdef"><b>Definition:</b> MapPoint.h:410</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a2653a4c69121627fcc5ae812b1809a28"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a2653a4c69121627fcc5ae812b1809a28">ORB_SLAM2::MapPoint::nObs</a></div><div class="ttdeci">int nObs</div><div class="ttdoc">Cantidad de veces que fue observado. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:272</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_ad8814ed8121bd730c640c620ed623baf"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ad8814ed8121bd730c640c620ed623baf">ORB_SLAM2::MapPoint::GetReplaced</a></div><div class="ttdeci">MapPoint * GetReplaced()</div><div class="ttdef"><b>Definition:</b> MapPoint.cc:135</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a1defea85441b8063ef9ebb47c9959289"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a1defea85441b8063ef9ebb47c9959289">ORB_SLAM2::MapPoint::mnFound</a></div><div class="ttdeci">int mnFound</div><div class="ttdoc">Cantidad de veces que fue visible, y pudo ser detectado. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:389</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_ac2a05b8ddc806ecc6939f42d13828876"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ac2a05b8ddc806ecc6939f42d13828876">ORB_SLAM2::MapPoint::mDescriptor</a></div><div class="ttdeci">cv::Mat mDescriptor</div><div class="ttdoc">Mejor descriptor del punto. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:373</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a3d9788e9d5c47d86b0f614cde91e3a4f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a3d9788e9d5c47d86b0f614cde91e3a4f">ORB_SLAM2::MapPoint::MapPoint</a></div><div class="ttdeci">MapPoint()</div><div class="ttdoc">Serialización agregada para guardar y cargar puntos de mapa. </div><div class="ttdef"><b>Definition:</b> Serializer.cpp:164</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a7d735552c42630c00bca4c2094fbbbf3"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a7d735552c42630c00bca4c2094fbbbf3">ORB_SLAM2::MapPoint::mTrackProjX</a></div><div class="ttdeci">float mTrackProjX</div><div class="ttdoc">Variables efímeras usadas por Tracking. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:283</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_ac179383327d65067da6febe55cbfc32a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ac179383327d65067da6febe55cbfc32a">ORB_SLAM2::MapPoint::mfMinDistance</a></div><div class="ttdeci">float mfMinDistance</div><div class="ttdoc">Distancia mínima en la que puede ser observado y reconocido por su descriptor. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:399</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_af0198d242a96476faa52da0ede3c8f10"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#af0198d242a96476faa52da0ede3c8f10">ORB_SLAM2::MapPoint::GetNormal</a></div><div class="ttdeci">cv::Mat GetNormal()</div><div class="ttdoc">Vector normal promedio de las observaciones. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:59</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a5ab59610931a5c2e14f502e8233571e4"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a5ab59610931a5c2e14f502e8233571e4">ORB_SLAM2::MapPoint::mTrackProjY</a></div><div class="ttdeci">float mTrackProjY</div><div class="ttdef"><b>Definition:</b> MapPoint.h:284</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a569e91b415067d4484fe7b71f33451cf"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a569e91b415067d4484fe7b71f33451cf">ORB_SLAM2::MapPoint::SetReferenceKeyFrame</a></div><div class="ttdeci">void SetReferenceKeyFrame(KeyFrame *pRefKF)</div><div class="ttdoc">Establece el keyframe de referencia. </div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_afbe3f2cf7f4d5e4596fa9f7ff0d44470"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#afbe3f2cf7f4d5e4596fa9f7ff0d44470">ORB_SLAM2::MapPoint::GetIndexInKeyFrame</a></div><div class="ttdeci">int GetIndexInKeyFrame(KeyFrame *pKF)</div><div class="ttdoc">Índice de este punto en el vector de features del keyframe. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:280</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a27cc4fee44b1ae77b24a8c766c617058"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a27cc4fee44b1ae77b24a8c766c617058">ORB_SLAM2::MapPoint::mpRefKF</a></div><div class="ttdeci">KeyFrame * mpRefKF</div><div class="ttdoc">Keyframe de referencia. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:380</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_afba2eb4d8400a0c822ee991ba445d9be"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#afba2eb4d8400a0c822ee991ba445d9be">ORB_SLAM2::MapPoint::mnId</a></div><div class="ttdeci">long unsigned int mnId</div><div class="ttdoc">Identificador del punto. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:254</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_ad65e6322e9d06314db235ff4d072509f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ad65e6322e9d06314db235ff4d072509f">ORB_SLAM2::MapPoint::SetWorldPos</a></div><div class="ttdeci">void SetWorldPos(const cv::Mat &amp;Pos)</div><div class="ttdoc">Asigna al punto las coordenadas 3D argumento. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:46</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_aad9ad02a540966d12b75460238290d90"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aad9ad02a540966d12b75460238290d90">ORB_SLAM2::MapPoint::mpMap</a></div><div class="ttdeci">Map * mpMap</div><div class="ttdoc">Mapa al que pertenece. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:407</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_ab4c3dfd8f5f05a4b1888021f1fac3d84"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ab4c3dfd8f5f05a4b1888021f1fac3d84">ORB_SLAM2::MapPoint::ComputeDistinctiveDescriptors</a></div><div class="ttdeci">void ComputeDistinctiveDescriptors()</div><div class="ttdoc">Elige el mejor descriptor entre todos los keyframes que observan el punto. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:207</div></div>
<div class="ttc" id="_map_8h_html"><div class="ttname"><a href="_map_8h.html">Map.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_abf1fe1c8a41919e1890b70baa18bd2fb"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#abf1fe1c8a41919e1890b70baa18bd2fb">ORB_SLAM2::MapPoint::mpReplaced</a></div><div class="ttdeci">MapPoint * mpReplaced</div><div class="ttdef"><b>Definition:</b> MapPoint.h:394</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_abcef580d7b3562ea9025ea1dc2141b92"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#abcef580d7b3562ea9025ea1dc2141b92">ORB_SLAM2::MapPoint::mnBAGlobalForKF</a></div><div class="ttdeci">long unsigned int mnBAGlobalForKF</div><div class="ttdoc">RunBundleAdjustment lo asigna y luego lo consume. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:342</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a7a8c48a885598ba4da3b188791dfd009"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a7a8c48a885598ba4da3b188791dfd009">ORB_SLAM2::MapPoint::IsInKeyFrame</a></div><div class="ttdeci">bool IsInKeyFrame(KeyFrame *pKF)</div><div class="ttdoc">Busca si este punto es observado por el keyframe argumento. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:289</div></div>
<div class="ttc" id="_key_frame_8h_html"><div class="ttname"><a href="_key_frame_8h.html">KeyFrame.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a86626462be01ad9a133dca0f5b49e688"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a86626462be01ad9a133dca0f5b49e688">ORB_SLAM2::MapPoint::mnCorrectedByKF</a></div><div class="ttdeci">long unsigned int mnCorrectedByKF</div><div class="ttdoc">Id del último keyframe que corrigió la posición del punto. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:331</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html">ORB_SLAM2::Map</a></div><div class="ttdoc">Mapa del mundo, de puntos y keyframes. </div><div class="ttdef"><b>Definition:</b> Map.h:52</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a79e6a93ea0c39329a082f4f69560f1be"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a79e6a93ea0c39329a082f4f69560f1be">ORB_SLAM2::MapPoint::EraseObservation</a></div><div class="ttdeci">void EraseObservation(KeyFrame *pKF)</div><div class="ttdoc">Elimina del punto el registro que indicaba que fue observado por ese keyframe. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:81</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">ORB_SLAM2::KeyFrame</a></div><div class="ttdoc">Cuadro clave, keyframe. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:79</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a19152183cfddc71b63650175def6aec7"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a19152183cfddc71b63650175def6aec7">ORB_SLAM2::MapPoint::mnTrackReferenceForFrame</a></div><div class="ttdeci">long unsigned int mnTrackReferenceForFrame</div><div class="ttdoc">Variable utilizada en Tracking::UpdateLocalPoints. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:300</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_afc04bae1b7819dd158a572de56074f63"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#afc04bae1b7819dd158a572de56074f63">ORB_SLAM2::MapPoint::mfMaxDistance</a></div><div class="ttdeci">float mfMaxDistance</div><div class="ttdoc">Distancia máxima en la que puede ser observado y reconocido por su descriptor. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:402</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_aef6f5c53ed3c845276473bda2437ad03"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aef6f5c53ed3c845276473bda2437ad03">ORB_SLAM2::MapPoint::serialize</a></div><div class="ttdeci">void serialize(Archivo &amp;, const unsigned int)</div><div class="ttdoc">Serializador de MapPoint Se invoca al serializar Map::mspMapPoints y KeyFrame::mvpMapPoints, cuyos mapPoints nunca tienen mbBad true. </div><div class="ttdef"><b>Definition:</b> Serializer.cpp:177</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html">ORB_SLAM2::MapPoint</a></div><div class="ttdoc">Cada instancia representa un mapa 3D en el sistema de referencia del mapa. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:58</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a03c1f367dd43f384bcd066e9da65bb88"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a03c1f367dd43f384bcd066e9da65bb88">ORB_SLAM2::MapPoint::mnFirstFrame</a></div><div class="ttdeci">long int mnFirstFrame</div><div class="ttdoc">Id del primer frame que observa este punto. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:269</div></div>
<div class="ttc" id="namespace_o_r_b___s_l_a_m2_html"><div class="ttname"><a href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="ttdoc">This file is part of ORB-SLAM2. </div><div class="ttdef"><b>Definition:</b> Converter.h:31</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a2669d92452bb1347a6a09700e369f049"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a2669d92452bb1347a6a09700e369f049">ORB_SLAM2::MapPoint::mPosGBA</a></div><div class="ttdeci">cv::Mat mPosGBA</div><div class="ttdef"><b>Definition:</b> MapPoint.h:337</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_aa8f2fc3c4b67c04e97162a5084e1dada"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aa8f2fc3c4b67c04e97162a5084e1dada">ORB_SLAM2::MapPoint::mbBad</a></div><div class="ttdeci">bool mbBad</div><div class="ttdoc">Flag de borrado. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:393</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_ad4da26d02aa54a3e0be6a09e90fa39ec"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ad4da26d02aa54a3e0be6a09e90fa39ec">ORB_SLAM2::MapPoint::mnBALocalForKF</a></div><div class="ttdeci">long unsigned int mnBALocalForKF</div><div class="ttdoc">Variables efímeras usadas por LocalMapping. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:316</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a98f595f0421fd95e406d1de6f48e05f3"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a98f595f0421fd95e406d1de6f48e05f3">ORB_SLAM2::MapPoint::GetReferenceKeyFrame</a></div><div class="ttdeci">KeyFrame * GetReferenceKeyFrame()</div><div class="ttdoc">Devuelve el keyframe de referencia. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:65</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a8f9faa5b4cc513795485dcfb460ea3d0"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a8f9faa5b4cc513795485dcfb460ea3d0">ORB_SLAM2::MapPoint::GetDescriptor</a></div><div class="ttdeci">cv::Mat GetDescriptor()</div><div class="ttdoc">Devuelve el mejor descriptor del punto 3D. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:274</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_aadb2c83e36dc01e47983f57e831bac7b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aadb2c83e36dc01e47983f57e831bac7b">ORB_SLAM2::MapPoint::mnVisible</a></div><div class="ttdeci">int mnVisible</div><div class="ttdoc">Cantidad de veces que el punto fue captado por la cámara, independientemente de si se lo detectó...</div><div class="ttdef"><b>Definition:</b> MapPoint.h:386</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_ac98d07dd8f7b70e16ccb9a01abf56b9c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">ORB_SLAM2::MapPoint::access</a></div><div class="ttdeci">friend class boost::serialization::access</div><div class="ttdef"><b>Definition:</b> MapPoint.h:414</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a70f6cf86b42dfb6f4968839b977cd77f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a70f6cf86b42dfb6f4968839b977cd77f">ORB_SLAM2::MapPoint::rgb</a></div><div class="ttdeci">cv::Vec3b rgb</div><div class="ttdef"><b>Definition:</b> MapPoint.h:346</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_aa097cd8cf993a54e999f297e05729392"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aa097cd8cf993a54e999f297e05729392">ORB_SLAM2::MapPoint::IncreaseFound</a></div><div class="ttdeci">void IncreaseFound(int n=1)</div><div class="ttdoc">Incrementa el contador de cantidad de veces que fue hallado el punto. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:195</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_aac515bf003cea5f99737d13475c46816"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aac515bf003cea5f99737d13475c46816">ORB_SLAM2::MapPoint::mnTrackScaleLevel</a></div><div class="ttdeci">int mnTrackScaleLevel</div><div class="ttdef"><b>Definition:</b> MapPoint.h:287</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a44172716cac5a56004a60d165de8cfa2"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a44172716cac5a56004a60d165de8cfa2">ORB_SLAM2::MapPoint::mnLoopPointForKF</a></div><div class="ttdeci">long unsigned int mnLoopPointForKF</div><div class="ttdoc">Variables efímeras usadas por LoopClosing. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:325</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_aac7224845c1d39016c50dcaacc0ebe40"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aac7224845c1d39016c50dcaacc0ebe40">ORB_SLAM2::MapPoint::GetMinDistanceInvariance</a></div><div class="ttdeci">float GetMinDistanceInvariance()</div><div class="ttdoc">Calcula la distancia mínima a la que puede ser observado el punto. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:338</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_aba0cff72e2182ff72d32edd77dc7832d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aba0cff72e2182ff72d32edd77dc7832d">ORB_SLAM2::MapPoint::mNormalVector</a></div><div class="ttdeci">cv::Mat mNormalVector</div><div class="ttdoc">Vector normal, computado como el promedio de las direcciones de todas las vistas del punto...</div><div class="ttdef"><b>Definition:</b> MapPoint.h:369</div></div>
<div class="ttc" id="_frame_8h_html"><div class="ttname"><a href="_frame_8h.html">Frame.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_aedba463c6440c2b448e9ec21acd58b9a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aedba463c6440c2b448e9ec21acd58b9a">ORB_SLAM2::MapPoint::mnFuseCandidateForKF</a></div><div class="ttdeci">long unsigned int mnFuseCandidateForKF</div><div class="ttdef"><b>Definition:</b> MapPoint.h:317</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a46bb6b57cd914c9ebad30007f3af469a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a46bb6b57cd914c9ebad30007f3af469a">ORB_SLAM2::MapPoint::isBad</a></div><div class="ttdeci">bool isBad()</div><div class="ttdoc">Informa el flag mBad. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:182</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_ade5858af14ed7924d48dbf191ea5448c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ade5858af14ed7924d48dbf191ea5448c">ORB_SLAM2::MapPoint::mnCorrectedReference</a></div><div class="ttdeci">long unsigned int mnCorrectedReference</div><div class="ttdef"><b>Definition:</b> MapPoint.h:336</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a0a234f5bd6bc19a9ea55fad0c9e6db5f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a0a234f5bd6bc19a9ea55fad0c9e6db5f">ORB_SLAM2::MapPoint::IncreaseVisible</a></div><div class="ttdeci">void IncreaseVisible(int n=1)</div><div class="ttdoc">Incrementa el contador de cantidad de veces que fue observado el punto. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:189</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a0d081d56b0f398c52581b3e0eaa1cb15"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a0d081d56b0f398c52581b3e0eaa1cb15">ORB_SLAM2::MapPoint::GetFound</a></div><div class="ttdeci">int GetFound()</div><div class="ttdoc">Cantidad de veces que el punto fue encontrado. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:196</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a37277ee3c7d8657976e749ab920bb13f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a37277ee3c7d8657976e749ab920bb13f">ORB_SLAM2::MapPoint::AddObservation</a></div><div class="ttdeci">void AddObservation(KeyFrame *pKF, size_t idx)</div><div class="ttdoc">Cada vez que el punto es observado desde un keyframe, se registra esa observación. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:71</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a7ed2a66b528165d6c39cb6f84f684308"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a7ed2a66b528165d6c39cb6f84f684308">ORB_SLAM2::MapPoint::SetBadFlag</a></div><div class="ttdeci">void SetBadFlag()</div><div class="ttdoc">Elimina el punto, marcándolo como malo. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:116</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a0e59b21447d5d889b39ad2fcc1b1db49"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a0e59b21447d5d889b39ad2fcc1b1db49">ORB_SLAM2::MapPoint::GetWorldPos</a></div><div class="ttdeci">cv::Mat GetWorldPos()</div><div class="ttdoc">Devuele un Mat con las coordenadas del punto. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:53</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_aa79702928d566db4fcd7716249bd96a2"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aa79702928d566db4fcd7716249bd96a2">ORB_SLAM2::MapPoint::nNextId</a></div><div class="ttdeci">static long unsigned int nNextId</div><div class="ttdoc">Identificador para el próximo nuevo punto. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:257</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a7fbc2a95f49eb6facdc5d5fa35de3287"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a7fbc2a95f49eb6facdc5d5fa35de3287">ORB_SLAM2::MapPoint::Observations</a></div><div class="ttdeci">int Observations()</div><div class="ttdoc">Informa la cantidad de observaciones que registra el punto. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:110</div></div>
<div class="ttc" id="_serializer_8h_html"><div class="ttname"><a href="_serializer_8h.html">Serializer.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_serializer_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_serializer.html">ORB_SLAM2::Serializer</a></div><div class="ttdoc">Clase encargada de la serialización (guarda y carga) del mapa. </div><div class="ttdef"><b>Definition:</b> Serializer.h:23</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a39741adada8dcd302afbf45ec2e72af0"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a39741adada8dcd302afbf45ec2e72af0">ORB_SLAM2::MapPoint::mWorldPos</a></div><div class="ttdeci">cv::Mat mWorldPos</div><div class="ttdoc">Posición en coordenadas absolutas del mapa global. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:356</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a189bea541f860af75ceb60300b59d8e3"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a189bea541f860af75ceb60300b59d8e3">ORB_SLAM2::MapPoint::mObservations</a></div><div class="ttdeci">std::map&lt; KeyFrame *, size_t &gt; mObservations</div><div class="ttdoc">Keyframes que observan este punto, y sus índices. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:365</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a0187350fa3fddd0bf89ccf354acb4766"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a0187350fa3fddd0bf89ccf354acb4766">ORB_SLAM2::MapPoint::mbTrackInView</a></div><div class="ttdeci">bool mbTrackInView</div><div class="ttdef"><b>Definition:</b> MapPoint.h:286</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_ac1b7c69a2d9f6bd785d465380844ce10"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ac1b7c69a2d9f6bd785d465380844ce10">ORB_SLAM2::MapPoint::GetFoundRatio</a></div><div class="ttdeci">float GetFoundRatio()</div><div class="ttdoc">Porcentaje de veces que el punto fue detectado, sobre el total de veces que estuvo en el fustrum...</div><div class="ttdef"><b>Definition:</b> MapPoint.cc:201</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a592b97bed3453c0a599336fa848a8cef"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a592b97bed3453c0a599336fa848a8cef">ORB_SLAM2::MapPoint::mMutexPos</a></div><div class="ttdeci">std::mutex mMutexPos</div><div class="ttdef"><b>Definition:</b> MapPoint.h:409</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_abf921da31ee4d522181bb6b8d9149fff"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#abf921da31ee4d522181bb6b8d9149fff">ORB_SLAM2::MapPoint::GetMaxDistanceInvariance</a></div><div class="ttdeci">float GetMaxDistanceInvariance()</div><div class="ttdoc">Calcula la distancia máxima a la que puede ser observado el punto. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:344</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a728107bc670ba47d79bad5ba288256d6"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a728107bc670ba47d79bad5ba288256d6">ORB_SLAM2::MapPoint::mTrackViewCos</a></div><div class="ttdeci">float mTrackViewCos</div><div class="ttdoc">Coseno de triangulación. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:292</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_ac5b8e4ec6a7737860af57058bdd16124"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ac5b8e4ec6a7737860af57058bdd16124">ORB_SLAM2::MapPoint::UpdateNormalAndDepth</a></div><div class="ttdeci">void UpdateNormalAndDepth()</div><div class="ttdoc">Recalcula el vector normal y la profundidad de visibilidad a partir de las observaciones. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:295</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a58d0ed9067593833efa652ea671ebf62"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a58d0ed9067593833efa652ea671ebf62">ORB_SLAM2::MapPoint::mGlobalMutex</a></div><div class="ttdeci">static std::mutex mGlobalMutex</div><div class="ttdef"><b>Definition:</b> MapPoint.h:348</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_aa1aa077560ef0cf2dee409f2a574370b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aa1aa077560ef0cf2dee409f2a574370b">ORB_SLAM2::MapPoint::PredictScale</a></div><div class="ttdeci">int PredictScale(const float &amp;currentDist, const float &amp;logScaleFactor)</div><div class="ttdoc">Predice la escala (el nivel de la pirámide) en que se encontrará el punto, a partir de la distancia d...</div><div class="ttdef"><b>Definition:</b> MapPoint.cc:350</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_aea3a63ce27fc39e536a6ceef7c1f3473"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#aea3a63ce27fc39e536a6ceef7c1f3473">ORB_SLAM2::MapPoint::mnLastFrameSeen</a></div><div class="ttdeci">long unsigned int mnLastFrameSeen</div><div class="ttdoc">Registra el id del último frame que observó el punto. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:308</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_ae20735198e68c7ed4c0f0956322c8f7a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ae20735198e68c7ed4c0f0956322c8f7a">ORB_SLAM2::MapPoint::mnFirstKFid</a></div><div class="ttdeci">long int mnFirstKFid</div><div class="ttdoc">Id del primer keyframe que observa este punto, cuyo valor es asignado en el constructor y nunca modif...</div><div class="ttdef"><b>Definition:</b> MapPoint.h:266</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_a8f2e205afcfae3dc70196bcd29194440"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#a8f2e205afcfae3dc70196bcd29194440">ORB_SLAM2::MapPoint::Replace</a></div><div class="ttdeci">void Replace(MapPoint *pMP)</div><div class="ttdoc">Toma las propiedades del punto argumento. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:142</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html_ae91e056d3b79e08a3fadd976888f6b09"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html#ae91e056d3b79e08a3fadd976888f6b09">ORB_SLAM2::MapPoint::GetObservations</a></div><div class="ttdeci">std::map&lt; KeyFrame *, size_t &gt; GetObservations()</div><div class="ttdoc">Devuelve todas las observaciones del punto. </div><div class="ttdef"><b>Definition:</b> MapPoint.cc:104</div></div>
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